TuxMonkey/tronone-h7-scaffold
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feat: refine remote states and PRTS LCD refresh

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- add remote NOT_READY/READY/PROTECT state flow and matching LED/status display

- speed up TFT hardware SPI DMA flush path and larger LVGL partial refresh buffer

- reduce page/menu redraw artifacts and center the PRTS status title
This commit is contained in:
TuxMonkey
2026-07-21 00:40:01 +08:00
parent 8671f84139
commit dc57b5152e
10 changed files with 230 additions and 67 deletions
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6
Core/Src/spi.c
View File

@@ -49,7 +49,7 @@ void MX_SPI1_Init(void)
hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
hspi1.Init.NSS = SPI_NSS_SOFT;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_4;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2;
hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
@@ -149,14 +149,14 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle)
GPIO_InitStruct.Pin = GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF5_SPI1;
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_3|GPIO_PIN_4;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF5_SPI1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

10
TronOneH7_Scaffold.ioc
View File

@@ -654,12 +654,12 @@ PB13.Mode=Full_Duplex_Master
PB13.Signal=SPI2_SCK
PB15.Signal=S_TIM12_CH2
PB3(JTDO/TRACESWO).GPIOParameters=GPIO_Speed
PB3(JTDO/TRACESWO).GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PB3(JTDO/TRACESWO).GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
PB3(JTDO/TRACESWO).Locked=true
PB3(JTDO/TRACESWO).Mode=Full_Duplex_Master
PB3(JTDO/TRACESWO).Signal=SPI1_SCK
PB4(NJTRST).GPIOParameters=GPIO_Speed
PB4(NJTRST).GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PB4(NJTRST).GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
PB4(NJTRST).Locked=true
PB4(NJTRST).Mode=Full_Duplex_Master
PB4(NJTRST).Signal=SPI1_MISO
@@ -741,7 +741,7 @@ PD6.Locked=true
PD6.Mode=Asynchronous
PD6.Signal=USART2_RX
PD7.GPIOParameters=GPIO_Speed
PD7.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PD7.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
PD7.Locked=true
PD7.Mode=Full_Duplex_Master
PD7.Signal=SPI1_MOSI
@@ -920,9 +920,9 @@ SH.S_TIM3_CH4.ConfNb=1
SH.SharedStack_PC12.0=SPI3_MOSI
SH.SharedStack_PC12.1=UART5_TX,Asynchronous
SH.SharedStack_PC12.ConfNb=2
SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_4
SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_2
SPI1.CLKPolarity=SPI_POLARITY_LOW
SPI1.CalculateBaudRate=30 MBits/s
SPI1.CalculateBaudRate=60 MBits/s
SPI1.DataSize=SPI_DATASIZE_8BIT
SPI1.Direction=SPI_DIRECTION_2LINES
SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,BaudRatePrescaler,CLKPolarity

14
User_Code/application/indicator_app/ws2812status.c
View File

@@ -54,20 +54,16 @@ void robotSelfCheck(void)
void ws2812Task(void *argument)
{
(void) argument;
RC_ctrl_t rc_data;
while (1)
{
RobotMode_t display_mode = RobotMode;
if (display_mode != SYS_ERROR_OCCURRED && !RemoteControlIsOnline())
display_mode = REMOTE_NOT_CONNECTED;
if (RemoteControlReadSnapshot(&rc_data) && switch_is_down(rc_data.sw_d))
display_mode = NORMAL_MODE;
switch (display_mode)
{
case NORMAL_MODE:
BlinkBlue();
BlinkGreen();
break;
case SYS_ERROR_OCCURRED:
BlinkRed();
@@ -75,7 +71,13 @@ void ws2812Task(void *argument)
case REMOTE_NOT_CONNECTED:
BlinkRed();
break;
case REMOTE_CONNECTED:
case REMOTE_NOT_READY:
BlinkWhite();
break;
case REMOTE_READY:
BlinkPurple();
break;
case REMOTE_PROTECT:
BlinkYellow();
break;
case AUTO_SHOOTING_MODE:

21
User_Code/module/paramdef/robot_def.h
View File

@@ -1,21 +1,18 @@
// #pragma once // 可以用#pragma once代替#ifndef ROBOT_DEF_H(header guard)
#ifndef ROBOT_DEF_H
#define ROBOT_DEF_H
typedef enum
{
NORMAL_MODE = 0, // 正常模式，对应数值0
SYS_ERROR_OCCURRED = 1, // 系统错误，对应数值1
REMOTE_NOT_CONNECTED = 2, // 遥控器未连接，对应数值2
REMOTE_CONNECTED = 3, // 遥控器已连接，对应数值3
AUTO_SHOOTING_MODE = 4, // 成功进入自动瞄准模式，对应数值4
IMU_CALIBERATION_MODE = 5 // IMU校准模式，对应数值5
// 添加其他模式
} RobotMode_t; //机器人控制模式
NORMAL_MODE = 0,
SYS_ERROR_OCCURRED = 1,
REMOTE_NOT_CONNECTED = 2,
REMOTE_NOT_READY = 3,
REMOTE_READY = 4,
REMOTE_PROTECT = 5,
AUTO_SHOOTING_MODE = 6,
IMU_CALIBERATION_MODE = 7
} RobotMode_t;
extern volatile RobotMode_t RobotMode;
// #pragma pack() // 开启字节对齐,结束前面的#pragma pack(1)
#endif

49
User_Code/module/periph/remote_control/rc.c
View File

@@ -102,6 +102,49 @@ static uint8_t SBusEndByteIsValid(uint8_t value)
return value == SBUS_END || value == 0x04u || value == 0x14u || value == 0x24u || value == 0x34u;
}
static uint8_t RemoteControlAllSwitchesDown(const RC_ctrl_t *rc)
{
return rc != NULL && switch_is_down(rc->sw_a) && switch_is_down(rc->sw_b) && switch_is_down(rc->sw_c) &&
switch_is_down(rc->sw_d);
}
static void RemoteControlSetMode(RobotMode_t mode)
{
if (RobotMode != SYS_ERROR_OCCURRED)
RobotMode = mode;
}
static void RemoteControlUpdateMode(const RC_ctrl_t *rc)
{
if (rc == NULL || RobotMode == SYS_ERROR_OCCURRED)
return;
switch (RobotMode)
{
case REMOTE_NOT_CONNECTED:
RemoteControlSetMode(REMOTE_NOT_READY);
break;
case REMOTE_NOT_READY:
if (RemoteControlAllSwitchesDown(rc))
RemoteControlSetMode(REMOTE_READY);
break;
case REMOTE_READY:
if (switch_is_up(rc->sw_d))
RemoteControlSetMode(NORMAL_MODE);
break;
case NORMAL_MODE:
if (switch_is_down(rc->sw_d))
RemoteControlSetMode(REMOTE_PROTECT);
break;
case REMOTE_PROTECT:
if (switch_is_up(rc->sw_d))
RemoteControlSetMode(NORMAL_MODE);
break;
default:
break;
}
}
#ifdef REMOTE_DJI_DT7
/**
@@ -364,8 +407,7 @@ static void RemoteControlPublishOffline(uint8_t force)
{
rc_data_valid = 0;
memset(rc_ctrl, 0, sizeof(rc_ctrl));
if (RobotMode != SYS_ERROR_OCCURRED)
RobotMode = REMOTE_NOT_CONNECTED;
RemoteControlSetMode(REMOTE_NOT_CONNECTED);
}
__set_PRIMASK(primask);
@@ -396,8 +438,7 @@ static void RemoteControlRxCallback(USART_Instance *instance, const uint8_t *rec
rc_valid_frame_count++;
rc_data_valid = 1;
DaemonReload(rc_daemon_instance);
if (RobotMode == REMOTE_NOT_CONNECTED)
RobotMode = REMOTE_CONNECTED;
RemoteControlUpdateMode(&rc_ctrl[TEMP]);
}
/**

87
User_Code/module/periph/tft/tft.c
View File

@@ -28,6 +28,9 @@ typedef enum
static bool tft_initialized = false;
static bool tft_transfer_ok = true;
static volatile bool tft_dma_active = false;
static TFT_TransferDoneCallback tft_dma_callback = NULL;
static void *tft_dma_context = NULL;
static const uint8_t tft_font5x7[][TFT_FONT_H] = {
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, /* space */
@@ -107,6 +110,31 @@ static void tft_backlight_on(void)
HAL_GPIO_WritePin(TFT_BLK_GPIO_Port, TFT_BLK_Pin, GPIO_PIN_SET);
}
static void tft_dma_finish(bool ok)
{
TFT_TransferDoneCallback callback = tft_dma_callback;
void *context = tft_dma_context;
if (!tft_dma_active)
{
return;
}
tft_dma_active = false;
tft_dma_callback = NULL;
tft_dma_context = NULL;
if (!ok)
{
tft_transfer_ok = false;
}
tft_cs_high();
if (callback != NULL)
{
callback(context, ok);
}
}
static void tft_bus_init(void)
{
#if TFT_USE_SOFT_SPI
@@ -278,6 +306,51 @@ void TFT_WriteColorData(const uint8_t *data, uint32_t len)
tft_cs_high();
}
bool TFT_WriteColorDataDMA(const uint8_t *data,
uint32_t len,
TFT_TransferDoneCallback callback,
void *context)
{
if (data == NULL || len == 0U || len > UINT16_MAX || tft_dma_active || TFT_SPI_UNIT.hdmatx == NULL)
{
return false;
}
tft_cs_low();
tft_dc_data();
tft_dma_callback = callback;
tft_dma_context = context;
tft_dma_active = true;
if (HAL_SPI_Transmit_DMA(&TFT_SPI_UNIT, (uint8_t *) data, (uint16_t) len) != HAL_OK)
{
tft_dma_active = false;
tft_dma_callback = NULL;
tft_dma_context = NULL;
tft_transfer_ok = false;
tft_cs_high();
return false;
}
return true;
}
void HAL_SPI_TxCpltCallback(SPI_HandleTypeDef *hspi)
{
if (hspi == &TFT_SPI_UNIT)
{
tft_dma_finish(true);
}
}
void HAL_SPI_ErrorCallback(SPI_HandleTypeDef *hspi)
{
if (hspi == &TFT_SPI_UNIT)
{
tft_dma_finish(false);
}
}
bool TFT_IsReady(void)
{
return tft_initialized && tft_transfer_ok;
@@ -599,8 +672,12 @@ const char *TFT_RobotModeText(RobotMode_t mode)
return "ERROR";
case REMOTE_NOT_CONNECTED:
return "REMOTE OFF";
case REMOTE_CONNECTED:
return "REMOTE ON";
case REMOTE_NOT_READY:
return "NOT READY";
case REMOTE_READY:
return "READY";
case REMOTE_PROTECT:
return "PROTECT";
case AUTO_SHOOTING_MODE:
return "AUTO SHOOT";
case IMU_CALIBERATION_MODE:
@@ -619,7 +696,11 @@ static uint16_t tft_mode_color(RobotMode_t mode)
case SYS_ERROR_OCCURRED:
case REMOTE_NOT_CONNECTED:
return TFT_COLOR_RED;
case REMOTE_CONNECTED:
case REMOTE_NOT_READY:
return TFT_COLOR_WHITE;
case REMOTE_READY:
return TFT_COLOR_MAGENTA;
case REMOTE_PROTECT:
return TFT_COLOR_YELLOW;
case AUTO_SHOOTING_MODE:
return TFT_COLOR_CYAN;

6
User_Code/module/periph/tft/tft.h
View File

@@ -11,6 +11,8 @@
extern "C" {
#endif
typedef void (*TFT_TransferDoneCallback)(void *context, bool ok);
#define TFT_USE_HORIZONTAL 2U
#define TFT_USE_SOFT_SPI 0U
#define TFT_HW_SPI_BYTE_MODE 0U
@@ -91,6 +93,10 @@ void TFT_DrawString(uint16_t x, uint16_t y, const char *text, uint16_t fc, uint1
void TFT_ShowStatus(float temperature_c, RobotMode_t mode);
bool TFT_IsReady(void);
void TFT_WriteColorData(const uint8_t *data, uint32_t len);
bool TFT_WriteColorDataDMA(const uint8_t *data,
uint32_t len,
TFT_TransferDoneCallback callback,
void *context);
const char *TFT_RobotModeText(RobotMode_t mode);
void LCD_Init(void);

2
User_Code/module/software/prts/lvgl/lv_conf.h
View File

@@ -69,7 +69,7 @@
#if LV_USE_STDLIB_MALLOC == LV_STDLIB_BUILTIN
/** Size of memory available for `lv_malloc()` in bytes (>= 2kB) */
#define LV_MEM_SIZE (80 * 1024U) /**< [bytes] */
#define LV_MEM_SIZE (76 * 1024U) /**< [bytes] */
/** Size of the memory expand for `lv_malloc()` in bytes */
#define LV_MEM_POOL_EXPAND_SIZE 0

53
User_Code/module/software/prts/port/prts_lvgl_port.c
View File

@@ -7,18 +7,43 @@
#include <stddef.h>
#include <stdint.h>
#define PRTS_LVGL_BUF_LINES 64U
#define PRTS_LVGL_BUF_LINES 80U
#define PRTS_DMA_BUFFER_ATTR __attribute__((section(".dma_buffer"), aligned(32)))
static lv_display_t *prts_display = NULL;
static uint8_t prts_lvgl_buf[TFT_LCD_W * PRTS_LVGL_BUF_LINES * 2U] PRTS_DMA_BUFFER_ATTR;
static volatile uint32_t prts_lvgl_frame_count = 0U;
static volatile bool prts_lvgl_pending_last_flush = false;
static uint32_t prts_lvgl_tick_get(void)
{
return HAL_GetTick();
}
static void prts_lvgl_finish_flush(lv_display_t *disp, bool is_last)
{
if (is_last)
{
prts_lvgl_frame_count++;
}
lv_display_flush_ready(disp);
}
static void prts_lvgl_dma_done(void *context, bool ok)
{
lv_display_t *disp = (lv_display_t *) context;
if (!ok)
{
prts_lvgl_pending_last_flush = false;
lv_display_flush_ready(disp);
return;
}
prts_lvgl_finish_flush(disp, prts_lvgl_pending_last_flush);
prts_lvgl_pending_last_flush = false;
}
static void prts_lvgl_flush(lv_display_t *disp, const lv_area_t *area, uint8_t *px_map)
{
int32_t area_width;
@@ -28,14 +53,12 @@ static void prts_lvgl_flush(lv_display_t *disp, const lv_area_t *area, uint8_t *
int32_t x2;
int32_t y2;
uint32_t pixel_count;
bool is_last_flush;
is_last_flush = lv_display_flush_is_last(disp);
if (area->x2 < 0 || area->y2 < 0 || area->x1 >= (int32_t) TFT_LCD_W || area->y1 >= (int32_t) TFT_LCD_H)
{
if (lv_display_flush_is_last(disp))
{
prts_lvgl_frame_count++;
}
lv_display_flush_ready(disp);
prts_lvgl_finish_flush(disp, is_last_flush);
return;
}
@@ -43,11 +66,7 @@ static void prts_lvgl_flush(lv_display_t *disp, const lv_area_t *area, uint8_t *
area_height = lv_area_get_height(area);
if (area_width <= 0 || area_height <= 0)
{
if (lv_display_flush_is_last(disp))
{
prts_lvgl_frame_count++;
}
lv_display_flush_ready(disp);
prts_lvgl_finish_flush(disp, is_last_flush);
return;
}
@@ -62,6 +81,12 @@ static void prts_lvgl_flush(lv_display_t *disp, const lv_area_t *area, uint8_t *
if (x1 == area->x1 && y1 == area->y1 && x2 == area->x2 && y2 == area->y2)
{
LCD_Address_Set((uint16_t) x1, (uint16_t) y1, (uint16_t) x2, (uint16_t) y2);
prts_lvgl_pending_last_flush = is_last_flush;
if (TFT_WriteColorDataDMA(px_map, pixel_count * 2U, prts_lvgl_dma_done, disp))
{
return;
}
prts_lvgl_pending_last_flush = false;
TFT_WriteColorData(px_map, pixel_count * 2U);
}
else
@@ -81,11 +106,7 @@ static void prts_lvgl_flush(lv_display_t *disp, const lv_area_t *area, uint8_t *
}
}
if (lv_display_flush_is_last(disp))
{
prts_lvgl_frame_count++;
}
lv_display_flush_ready(disp);
prts_lvgl_finish_flush(disp, is_last_flush);
}
uint32_t PRTS_LVGLPortGetFrameCount(void)

49
User_Code/module/software/prts/prts.c
View File

@@ -21,9 +21,12 @@
#define PRTS_CARD_H 140
#define PRTS_CARD_GAP 15
#define PRTS_CARD_PAD_HOR 75
#define PRTS_DOT_SIZE_NORMAL 8
#define PRTS_DOT_SIZE_ACTIVE 12
#define PRTS_DOT_SIZE_NORMAL 10
#define PRTS_DOT_SIZE_ACTIVE 10
#define PRTS_MENU_CARD_COUNT 3U
#define PRTS_STATUS_BRAND_X 18
#define PRTS_STATUS_BRAND_W 54
#define PRTS_STATUS_TITLE_W 130
#define PRTS_VALUE_PANEL_WIDTH 228
#define PRTS_VALUE_PANEL_HEIGHT 34
@@ -33,7 +36,7 @@
#define PRTS_JOY_DEBOUNCE_MS 25U
#define PRTS_JOY_LONG_PRESS_MS 700U
#define PRTS_MONITOR_UPDATE_MS 150U
#define PRTS_SCREEN_ANIM_MS 140U
#define PRTS_SCREEN_ANIM_MS 0U
typedef enum
{
@@ -174,8 +177,12 @@ static const char *prts_robot_mode_text(RobotMode_t mode)
return "ERROR";
case REMOTE_NOT_CONNECTED:
return "REMOTE OFF";
case REMOTE_CONNECTED:
return "REMOTE ON";
case REMOTE_NOT_READY:
return "NOT READY";
case REMOTE_READY:
return "READY";
case REMOTE_PROTECT:
return "PROTECT";
case AUTO_SHOOTING_MODE:
return "AUTO SHOOT";
case IMU_CALIBERATION_MODE:
@@ -194,7 +201,11 @@ static lv_color_t prts_robot_mode_color(RobotMode_t mode)
case SYS_ERROR_OCCURRED:
case REMOTE_NOT_CONNECTED:
return lv_color_hex(0xFF4D4F);
case REMOTE_CONNECTED:
case REMOTE_NOT_READY:
return lv_color_hex(0xEDEDED);
case REMOTE_READY:
return lv_color_hex(0xC678FF);
case REMOTE_PROTECT:
return lv_color_hex(0xFFD666);
case AUTO_SHOOTING_MODE:
return lv_color_hex(0x40C4FF);
@@ -212,7 +223,11 @@ static lv_color_t prts_robot_mode_text_color(RobotMode_t mode)
case SYS_ERROR_OCCURRED:
case REMOTE_NOT_CONNECTED:
return lv_color_hex(0xFFE2E2);
case REMOTE_CONNECTED:
case REMOTE_NOT_READY:
return lv_color_hex(0xFFFFFF);
case REMOTE_READY:
return lv_color_hex(0xF5E6FF);
case REMOTE_PROTECT:
return lv_color_hex(0xFFF3C4);
default:
return lv_color_hex(0xFFFFFF);
@@ -338,9 +353,6 @@ static void prts_init_styles(void)
LV_STYLE_BG_COLOR,
LV_STYLE_BORDER_COLOR,
LV_STYLE_BORDER_WIDTH,
LV_STYLE_TRANSFORM_WIDTH,
LV_STYLE_TRANSFORM_HEIGHT,
LV_STYLE_SHADOW_OPA,
0
};
@@ -373,8 +385,8 @@ static void prts_init_styles(void)
lv_style_set_bg_color(&prts_style_card_focused, lv_color_hex(0x3A3A3C));
lv_style_set_border_color(&prts_style_card_focused, lv_color_hex(0x0A84FF));
lv_style_set_border_width(&prts_style_card_focused, 2);
lv_style_set_transform_width(&prts_style_card_focused, 4);
lv_style_set_transform_height(&prts_style_card_focused, 3);
lv_style_set_transform_width(&prts_style_card_focused, 0);
lv_style_set_transform_height(&prts_style_card_focused, 0);
lv_style_set_shadow_width(&prts_style_card_focused, 0);
lv_style_set_shadow_color(&prts_style_card_focused, lv_color_hex(0x0A84FF));
lv_style_set_shadow_opa(&prts_style_card_focused, LV_OPA_0);
@@ -449,13 +461,16 @@ static lv_obj_t *prts_create_status_bar(lv_obj_t *parent, const char *title_text
brand = lv_label_create(bar);
lv_label_set_text(brand, "PRTS");
prts_style_label(brand, lv_color_hex(0x6EE7F9));
lv_obj_set_pos(brand, 10, 6);
lv_obj_set_pos(brand, PRTS_STATUS_BRAND_X, 6);
lv_obj_set_size(brand, PRTS_STATUS_BRAND_W, 18);
lv_obj_set_style_text_align(brand, LV_TEXT_ALIGN_CENTER, 0);
title = lv_label_create(bar);
lv_label_set_text(title, title_text);
prts_style_label(title, lv_color_hex(0xEBEBF5));
lv_obj_set_pos(title, 74, 6);
lv_obj_set_size(title, 130, 18);
lv_obj_set_pos(title, (PRTS_SCREEN_W - PRTS_STATUS_TITLE_W) / 2, 6);
lv_obj_set_size(title, PRTS_STATUS_TITLE_W, 18);
lv_obj_set_style_text_align(title, LV_TEXT_ALIGN_CENTER, 0);
if (parent == prts_main_screen)
{
@@ -605,7 +620,7 @@ static void prts_page_key_event_cb(lv_event_t *e)
if (lv_event_get_key(e) == LV_KEY_ESC)
{
prts_show_page(PRTS_PAGE_MAIN, LV_SCREEN_LOAD_ANIM_OVER_RIGHT);
prts_show_page(PRTS_PAGE_MAIN, LV_SCREEN_LOAD_ANIM_NONE);
}
}
@@ -629,7 +644,7 @@ static void prts_card_event_cb(lv_event_t *e)
else if (code == LV_EVENT_CLICKED)
{
prts_current_card = (uint8_t) index;
prts_show_page(prts_menu_cards_data[index].page, LV_SCREEN_LOAD_ANIM_OVER_LEFT);
prts_show_page(prts_menu_cards_data[index].page, LV_SCREEN_LOAD_ANIM_NONE);
}
}